function dx=Plant(t,x,flag,para)
dx=zeros(2,1);

iq=para(1);
Tl=para(2);

np=4;fi=0.353;J=0.000724;B=0.00000002;

dx(1)=x(2);
dx(2)=3*np*fi*iq/2/J-B*x(2)/J-Tl/J;
